Abstract
AbstractAn impulse‐based control scheme for a simple spring‐mass oscillator subject to set‐valued friction forces is presented. In contrast to PD or PID control laws, the proposed control law prevents non‐zero steady state errors and limit cycles. Motivated by Wouw and Leine [1], it is shown that impulse‐based control laws can lead to satisfactory behavior if the oscillator starts sticking. In order to realize a practical implementation, the equations of motion are extended by a mathematical model of the actuator dynamics. The analysis is undertaken in the framework of nonsmooth mechanical systems. (© 2015 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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